自主研发的爬壁机器人采用十字形框架式结构,利用海绵真空负压吸盘组进行吸附.该机器人走行过程中具有位姿保持和调整能力,可保障雷达电磁波信号的稳定性和可靠性.利用爬壁机器人搭载CAS-S800地质雷达对隧道进行检测,分析了隧道衬砌背后的缺陷情况,并手持地质雷达对左边墙测线进行了复核.复核结果表明:爬壁机器人搭载雷达测试的模式可靠,雷达与衬砌表面间的距离保持能力和走行过程的稳定性符合检测需求.%A type of wall-climbing robot which was developed independently adopts the cross frame structure and the sponge vacuum negative pressure sucker group is used for adsorption. The robot had the ability of maintaining and adjusting the position and posture to ensure the stability and reliability of radar electromagnetic wave signal during the walking process. The wall-climbing robot equipped with the CAS-S800 ground penetrating radar was utilized for tunnel detection,the defects behind tunnel lining were analyzed and the review of left wall measuring line was carried out by holding the ground penetrating radar by hand. The results present that the detection mode of wall-climbing robot equipped with the ground penetrating radar is reliable,both the ability of maintaining the distance between the radar and the lining surface and the stability of robot walking process could meet the detection requirem ents.
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